cmake_minimum_required(VERSION 3.8)
project(quadruped_gait_planner)

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

# find dependencies
find_package(ament_cmake REQUIRED)
find_package(Eigen3 REQUIRED)
find_package(rclcpp REQUIRED)
find_package(quadruped_kinematics REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(std_srvs REQUIRED)
find_package(rosidl_default_generators REQUIRED)

rosidl_generate_interfaces(${PROJECT_NAME}
  "srv/GaitParameters.srv"
)

ament_export_dependencies(rosidl_default_runtime)

include_directories(include)
include_directories(${EIGEN3_INCLUDE_DIR})

add_executable(gait_planner_node src/GaitPlanner.cpp)
ament_target_dependencies(gait_planner_node rclcpp geometry_msgs std_srvs quadruped_kinematics Eigen3)

rosidl_get_typesupport_target(cpp_typesupport_target "${PROJECT_NAME}" "rosidl_typesupport_cpp")

target_link_libraries(gait_planner_node "${cpp_typesupport_target}")

install(
  DIRECTORY launch config
  DESTINATION share/${PROJECT_NAME}
)

install(TARGETS
  gait_planner_node
  DESTINATION lib/${PROJECT_NAME})

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # the following line skips the linter which checks for copyrights
  # comment the line when a copyright and license is added to all source files
  set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # comment the line when this package is in a git repo and when
  # a copyright and license is added to all source files
  set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()

ament_package()
